Kebin Yuan

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Current finite-state control strategies for powered below-knee prosthesis, though effective to the normal gait, can not eliminate the disturbance of abnormal gaits such as slip and stamp. In addition, toe joint is not taken into consideration. This paper presents a finite-state control strategy for a powered below-knee prosthesis with ankle and toe. We(More)
This paper presents a fuzzy logic based terrain identification method using multi-sensor fusion for powered prosthesis control. Five locomotion features including rising time of ground reaction force, sequence of foot strike on ground, foot inclination angle during stance, shank inclination angle at toe-off and maximal shank inclination angle during swing(More)
Active transtibial prostheses that can overcome the deficiencies of passive prostheses are gaining popularity in the research field. In addition to the advantages in joint torque and gait symmetry, terrain adaptation and total weight are other benefits that can help push active prostheses into the commercial market. In this article, we present a lightweight(More)
In recent years, there has been an increasing interest in the functionality of the foot in human normal walking. Different from the existing methods that represent the foot as a single rigid bar, several multi-segmented foot models have been studied to evaluate the effects of the segmented foot structures on human walking for clinical applications [1],(More)
This paper presents a realtime locomotion mode recognition method for an active pelvis orthosis. Five locomotion modes, including sitting, standing still, level-ground walking, ascending stairs, and descending stairs, are taken into consideration. The recognition is performed with locomotion information measured by the onboard hip angle sensors and the(More)
In this paper, we present a fuzzy-logic-based hybrid locomotion mode classification method for an active pelvis orthosis. Locomotion information measured by the onboard hip joint angle sensors and the pressure insoles is used to classify five locomotion modes, including two static modes (sitting, standing still), and three dynamic modes (level-ground(More)
During early and middle stance of level-ground walking, the ankle joint usually rotates passively due to the locomotion of human body. Based on this passive dynamics of human locomotion, we develop an energy-efficient torque controller with hierarchical structure for a robotic prosthesis. The low-level controller generates motor current from the human(More)
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